| Título: | A cooperative robotic system based on multiple sensors to construct metallic structures |
| Autores: |
Gil Vázquez, Pablo Pomares Baeza, Jorge Puente Méndez, Santiago Timoteo Candelas Herías, Francisco Andrés García Gómez, Gabriel Jesús Corrales Ramón, Juan Antonio Torres Medina, Fernando |
| Fecha: |
2010-05-17 2010-05-17 2009-03-18 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Visual force control Visual servoing Human-robot interaction Human tracking Ingeniería de Sistemas y Automática |
| Descripción: |
This paper describes a multisensorial robotic system to automatically construct metallic structures. Two robots must work cooperatively in the same workspace to perform the task. The robots are automatically guided using visual and force sensor information. A new time-independent visual force control system which guarantees the adequate robot behaviour during the construction of the structure is described. During the construction of the structure, a human operator works cooperatively with the robots in order to perform some tasks which cannot be automatically developed by the robots. To do so, a new human–robot cooperation approach is described in order to guarantee the human safety. The correct behaviour of the different subsystems proposed in the paper is demonstrated in Section 6 by the construction of a real structure composed of several metallic tubes and different types of pieces to join them. This work was funded by the Spanish MEC project “Design, Implementation and Experimentation of Intelligent Manipulation Scenarios for Automatic Assembly and Disassembly Applications (DPI2005-06222)” and the pre-doctoral grant AP2005-1458. |
| Idioma: | Inglés |
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